source: ntrip/branches/BNC_2.12/src/ephemeris.cpp@ 8546

Last change on this file since 8546 was 8541, checked in by stuerze, 7 years ago

minor changes to consider a satellite clock drift that is introduced via RTNET format
File size: 49.2 KB
Line 
1#include <sstream>
2#include <iostream>
3#include <iomanip>
4#include <cstring>
5
6#include <newmatio.h>
7
8#include "ephemeris.h"
9#include "bncutils.h"
10#include "bnctime.h"
11#include "bnccore.h"
12#include "bncutils.h"
13#include "satObs.h"
14#include "pppInclude.h"
15#include "pppModel.h"
16
17using namespace std;
18
19// Constructor
20////////////////////////////////////////////////////////////////////////////
21t_eph::t_eph() {
22 _checkState = unchecked;
23 _orbCorr = 0;
24 _clkCorr = 0;
25}
26// Destructor
27////////////////////////////////////////////////////////////////////////////
28t_eph::~t_eph() {
29 if (_orbCorr)
30 delete _orbCorr;
31 if (_clkCorr)
32 delete _clkCorr;
33}
34
35//
36////////////////////////////////////////////////////////////////////////////
37void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
38 if (_orbCorr) {
39 delete _orbCorr;
40 _orbCorr = 0;
41 }
42 _orbCorr = new t_orbCorr(*orbCorr);
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
48 if (_clkCorr) {
49 delete _clkCorr;
50 _clkCorr = 0;
51 }
52 _clkCorr = new t_clkCorr(*clkCorr);
53}
54
55//
56////////////////////////////////////////////////////////////////////////////
57t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
58
59 if (_checkState == bad ||
60 _checkState == unhealthy) {
61 return failure;
62 }
63 const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
64 << 60 << 120 << 240 << 300 << 600
65 << 900 << 1800 << 3600 << 7200
66 << 10800;
67 xc.ReSize(6);
68 vv.ReSize(3);
69 if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
70 return failure;
71 }
72 if (useCorr) {
73 if (_orbCorr && _clkCorr) {
74 double dtO = tt - _orbCorr->_time;
75 if (_orbCorr->_updateInt) {
76 dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
77 }
78 ColumnVector dx(3);
79 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
80 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
81 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
82
83 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
84
85 xc[0] -= dx[0];
86 xc[1] -= dx[1];
87 xc[2] -= dx[2];
88
89 ColumnVector dv(3);
90 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
91
92 vv[0] -= dv[0];
93 vv[1] -= dv[1];
94 vv[2] -= dv[2];
95
96 double dtC = tt - _clkCorr->_time;
97 if (_clkCorr->_updateInt) {
98 dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
99 }
100 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
101 }
102 else {
103 return failure;
104 }
105 }
106 return success;
107}
108
109//
110//////////////////////////////////////////////////////////////////////////////
111QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
112 QString prnStr(prn.toString().c_str());
113 return rinexDateStr(tt, prnStr, version);
114}
115
116//
117//////////////////////////////////////////////////////////////////////////////
118QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
119
120 QString datStr;
121
122 unsigned year, month, day, hour, min;
123 double sec;
124 tt.civil_date(year, month, day);
125 tt.civil_time(hour, min, sec);
126
127 QTextStream out(&datStr);
128
129 if (version < 3.0) {
130 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
131 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
132 .arg(year % 100, 2, 10, QChar('0'))
133 .arg(month, 2)
134 .arg(day, 2)
135 .arg(hour, 2)
136 .arg(min, 2)
137 .arg(sec, 5, 'f',1);
138 }
139 else {
140 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
141 .arg(year, 4)
142 .arg(month, 2, 10, QChar('0'))
143 .arg(day, 2, 10, QChar('0'))
144 .arg(hour, 2, 10, QChar('0'))
145 .arg(min, 2, 10, QChar('0'))
146 .arg(int(sec), 2, 10, QChar('0'));
147 }
148
149 return datStr;
150}
151
152// Constructor
153//////////////////////////////////////////////////////////////////////////////
154t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
155
156 const int nLines = 8;
157
158 if (lines.size() != nLines) {
159 _checkState = bad;
160 return;
161 }
162
163 // RINEX Format
164 // ------------
165 int fieldLen = 19;
166
167 int pos[4];
168 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
169 pos[1] = pos[0] + fieldLen;
170 pos[2] = pos[1] + fieldLen;
171 pos[3] = pos[2] + fieldLen;
172
173 // Read eight lines
174 // ----------------
175 for (int iLine = 0; iLine < nLines; iLine++) {
176 QString line = lines[iLine];
177
178 if ( iLine == 0 ) {
179 QTextStream in(line.left(pos[1]).toAscii());
180 int year, month, day, hour, min;
181 double sec;
182
183 QString prnStr, n;
184 in >> prnStr;
185
186 if (prnStr.size() == 1 &&
187 (prnStr[0] == 'G' ||
188 prnStr[0] == 'J' ||
189 prnStr[0] == 'I')) {
190 in >> n;
191 prnStr.append(n);
192 }
193
194 in >> year >> month >> day >> hour >> min >> sec;
195 if (prnStr.at(0) == 'G') {
196 _prn.set('G', prnStr.mid(1).toInt());
197 }
198 else if (prnStr.at(0) == 'J') {
199 _prn.set('J', prnStr.mid(1).toInt());
200 }
201 else if (prnStr.at(0) == 'I') {
202 _prn.set('I', prnStr.mid(1).toInt());
203 }
204 else {
205 _prn.set('G', prnStr.toInt());
206 }
207
208 if (year < 80) {
209 year += 2000;
210 }
211 else if (year < 100) {
212 year += 1900;
213 }
214
215 _TOC.set(year, month, day, hour, min, sec);
216
217 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
218 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
219 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
220 _checkState = bad;
221 return;
222 }
223 }
224
225 else if ( iLine == 1 ) {
226 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
227 readDbl(line, pos[1], fieldLen, _Crs ) ||
228 readDbl(line, pos[2], fieldLen, _Delta_n) ||
229 readDbl(line, pos[3], fieldLen, _M0 ) ) {
230 _checkState = bad;
231 return;
232 }
233 }
234
235 else if ( iLine == 2 ) {
236 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
237 readDbl(line, pos[1], fieldLen, _e ) ||
238 readDbl(line, pos[2], fieldLen, _Cus ) ||
239 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
240 _checkState = bad;
241 return;
242 }
243 }
244
245 else if ( iLine == 3 ) {
246 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
247 readDbl(line, pos[1], fieldLen, _Cic ) ||
248 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
249 readDbl(line, pos[3], fieldLen, _Cis ) ) {
250 _checkState = bad;
251 return;
252 }
253 }
254
255 else if ( iLine == 4 ) {
256 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
257 readDbl(line, pos[1], fieldLen, _Crc ) ||
258 readDbl(line, pos[2], fieldLen, _omega ) ||
259 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
260 _checkState = bad;
261 return;
262 }
263 }
264
265 else if ( iLine == 5 && type() != t_eph::IRNSS) {
266 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
267 readDbl(line, pos[1], fieldLen, _L2Codes) ||
268 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
269 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
270 _checkState = bad;
271 return;
272 }
273 }
274 else if ( iLine == 5 && type() == t_eph::IRNSS) {
275 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
276 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
277 _checkState = bad;
278 return;
279 }
280 }
281
282 else if ( iLine == 6 && type() != t_eph::IRNSS) {
283 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
284 readDbl(line, pos[1], fieldLen, _health) ||
285 readDbl(line, pos[2], fieldLen, _TGD ) ||
286 readDbl(line, pos[3], fieldLen, _IODC ) ) {
287 _checkState = bad;
288 return;
289 }
290 }
291 else if ( iLine == 6 && type() == t_eph::IRNSS) {
292 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
293 readDbl(line, pos[1], fieldLen, _health) ||
294 readDbl(line, pos[2], fieldLen, _TGD ) ) {
295 _checkState = bad;
296 return;
297 }
298 }
299
300 else if ( iLine == 7 ) {
301 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
302 _checkState = bad;
303 return;
304 }
305 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
306 }
307 }
308}
309
310// Compute GPS Satellite Position (virtual)
311////////////////////////////////////////////////////////////////////////////
312t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
313
314 if (_checkState == bad ||
315 _checkState == unhealthy) {
316 return failure;
317 }
318
319 static const double omegaEarth = 7292115.1467e-11;
320 static const double gmGRS = 398.6005e12;
321
322 memset(xc, 0, 6*sizeof(double));
323 memset(vv, 0, 3*sizeof(double));
324
325 double a0 = _sqrt_A * _sqrt_A;
326 if (a0 == 0) {
327 return failure;
328 }
329
330 double n0 = sqrt(gmGRS/(a0*a0*a0));
331
332 bncTime tt(GPSweek, GPSweeks);
333 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
334
335 double n = n0 + _Delta_n;
336 double M = _M0 + n*tk;
337 double E = M;
338 double E_last;
339 int nLoop = 0;
340 do {
341 E_last = E;
342 E = M + _e*sin(E);
343
344 if (++nLoop == 100) {
345 return failure;
346 }
347 } while ( fabs(E-E_last)*a0 > 0.001 );
348 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
349 double u0 = v + _omega;
350 double sin2u0 = sin(2*u0);
351 double cos2u0 = cos(2*u0);
352 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
353 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
354 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
355 double xp = r*cos(u);
356 double yp = r*sin(u);
357 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
358 omegaEarth*_TOEsec;
359
360 double sinom = sin(OM);
361 double cosom = cos(OM);
362 double sini = sin(i);
363 double cosi = cos(i);
364 xc[0] = xp*cosom - yp*cosi*sinom;
365 xc[1] = xp*sinom + yp*cosi*cosom;
366 xc[2] = yp*sini;
367
368 double tc = tt - _TOC;
369 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
370
371 // Velocity
372 // --------
373 double tanv2 = tan(v/2);
374 double dEdM = 1 / (1 - _e*cos(E));
375 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
376 * dEdM * n;
377 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
378 double dotom = _OMEGADOT - omegaEarth;
379 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
380 double dotr = a0 * _e*sin(E) * dEdM * n
381 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
382 double dotx = dotr*cos(u) - r*sin(u)*dotu;
383 double doty = dotr*sin(u) + r*cos(u)*dotu;
384
385 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
386 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
387 + yp*sini*sinom*doti; // dX / di
388
389 vv[1] = sinom *dotx + cosi*cosom *doty
390 + xp*cosom*dotom - yp*cosi*sinom*dotom
391 - yp*sini*cosom*doti;
392
393 vv[2] = sini *doty + yp*cosi *doti;
394
395 // Relativistic Correction
396 // -----------------------
397 // correspondent to IGS convention and GPS ICD (and SSR standard)
398 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
399
400 xc[4] = _clock_drift + _clock_driftrate*tc;
401 xc[5] = _clock_driftrate;
402
403 return success;
404}
405
406// RINEX Format String
407//////////////////////////////////////////////////////////////////////////////
408QString t_ephGPS::toString(double version) const {
409
410 QString rnxStr = rinexDateStr(_TOC, _prn, version);
411
412 QTextStream out(&rnxStr);
413
414 out << QString("%1%2%3\n")
415 .arg(_clock_bias, 19, 'e', 12)
416 .arg(_clock_drift, 19, 'e', 12)
417 .arg(_clock_driftrate, 19, 'e', 12);
418
419 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
420
421 out << QString(fmt)
422 .arg(_IODE, 19, 'e', 12)
423 .arg(_Crs, 19, 'e', 12)
424 .arg(_Delta_n, 19, 'e', 12)
425 .arg(_M0, 19, 'e', 12);
426
427 out << QString(fmt)
428 .arg(_Cuc, 19, 'e', 12)
429 .arg(_e, 19, 'e', 12)
430 .arg(_Cus, 19, 'e', 12)
431 .arg(_sqrt_A, 19, 'e', 12);
432
433 out << QString(fmt)
434 .arg(_TOEsec, 19, 'e', 12)
435 .arg(_Cic, 19, 'e', 12)
436 .arg(_OMEGA0, 19, 'e', 12)
437 .arg(_Cis, 19, 'e', 12);
438
439 out << QString(fmt)
440 .arg(_i0, 19, 'e', 12)
441 .arg(_Crc, 19, 'e', 12)
442 .arg(_omega, 19, 'e', 12)
443 .arg(_OMEGADOT, 19, 'e', 12);
444
445 if (type() == t_eph::IRNSS) {
446 out << QString(fmt)
447 .arg(_IDOT, 19, 'e', 12)
448 .arg("", 19, QChar(' '))
449 .arg(_TOEweek, 19, 'e', 12)
450 .arg("", 19, QChar(' '));
451 }
452 else {
453 out << QString(fmt)
454 .arg(_IDOT, 19, 'e', 12)
455 .arg(_L2Codes, 19, 'e', 12)
456 .arg(_TOEweek, 19, 'e', 12)
457 .arg(_L2PFlag, 19, 'e', 12);
458 }
459
460 if (type() == t_eph::IRNSS) {
461 out << QString(fmt)
462 .arg(_ura, 19, 'e', 12)
463 .arg(_health, 19, 'e', 12)
464 .arg(_TGD, 19, 'e', 12)
465 .arg("", 19, QChar(' '));
466 }
467 else {
468 out << QString(fmt)
469 .arg(_ura, 19, 'e', 12)
470 .arg(_health, 19, 'e', 12)
471 .arg(_TGD, 19, 'e', 12)
472 .arg(_IODC, 19, 'e', 12);
473 }
474
475 double tot = _TOT;
476 if (tot == 0.9999e9 && version < 3.0) {
477 tot = 0.0;
478 }
479 if (type() == t_eph::IRNSS) {
480 out << QString(fmt)
481 .arg(tot, 19, 'e', 12)
482 .arg("", 19, QChar(' '))
483 .arg("", 19, QChar(' '))
484 .arg("", 19, QChar(' '));
485 }
486 else {
487 out << QString(fmt)
488 .arg(tot, 19, 'e', 12)
489 .arg(_fitInterval, 19, 'e', 12)
490 .arg("", 19, QChar(' '))
491 .arg("", 19, QChar(' '));
492 }
493
494 return rnxStr;
495}
496
497// Constructor
498//////////////////////////////////////////////////////////////////////////////
499t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
500
501 const int nLines = 4;
502
503 if (lines.size() != nLines) {
504 _checkState = bad;
505 return;
506 }
507
508 // RINEX Format
509 // ------------
510 int fieldLen = 19;
511
512 int pos[4];
513 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
514 pos[1] = pos[0] + fieldLen;
515 pos[2] = pos[1] + fieldLen;
516 pos[3] = pos[2] + fieldLen;
517
518 // Read four lines
519 // ---------------
520 for (int iLine = 0; iLine < nLines; iLine++) {
521 QString line = lines[iLine];
522
523 if ( iLine == 0 ) {
524 QTextStream in(line.left(pos[1]).toAscii());
525
526 int year, month, day, hour, min;
527 double sec;
528
529 QString prnStr, n;
530 in >> prnStr;
531 if (prnStr.size() == 1 && prnStr[0] == 'R') {
532 in >> n;
533 prnStr.append(n);
534 }
535 in >> year >> month >> day >> hour >> min >> sec;
536 if (prnStr.at(0) == 'R') {
537 _prn.set('R', prnStr.mid(1).toInt());
538 }
539 else {
540 _prn.set('R', prnStr.toInt());
541 }
542
543 if (year < 80) {
544 year += 2000;
545 }
546 else if (year < 100) {
547 year += 1900;
548 }
549
550 _gps_utc = gnumleap(year, month, day);
551
552 _TOC.set(year, month, day, hour, min, sec);
553 _TOC = _TOC + _gps_utc;
554
555 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
556 readDbl(line, pos[2], fieldLen, _gamma) ||
557 readDbl(line, pos[3], fieldLen, _tki ) ) {
558 _checkState = bad;
559 return;
560 }
561
562 _tau = -_tau;
563 }
564
565 else if ( iLine == 1 ) {
566 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
567 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
568 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
569 readDbl(line, pos[3], fieldLen, _health ) ) {
570 _checkState = bad;
571 return;
572 }
573 }
574
575 else if ( iLine == 2 ) {
576 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
577 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
578 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
579 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
580 _checkState = bad;
581 return;
582 }
583 }
584
585 else if ( iLine == 3 ) {
586 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
587 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
588 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
589 readDbl(line, pos[3], fieldLen, _E ) ) {
590 _checkState = bad;
591 return;
592 }
593 }
594 }
595
596 // Initialize status vector
597 // ------------------------
598 _tt = _TOC;
599 _xv.ReSize(6);
600 _xv(1) = _x_pos * 1.e3;
601 _xv(2) = _y_pos * 1.e3;
602 _xv(3) = _z_pos * 1.e3;
603 _xv(4) = _x_velocity * 1.e3;
604 _xv(5) = _y_velocity * 1.e3;
605 _xv(6) = _z_velocity * 1.e3;
606}
607
608// Compute Glonass Satellite Position (virtual)
609////////////////////////////////////////////////////////////////////////////
610t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
611
612 if (_checkState == bad ||
613 _checkState == unhealthy) {
614 return failure;
615 }
616
617 static const double nominalStep = 10.0;
618
619 memset(xc, 0, 6*sizeof(double));
620 memset(vv, 0, 3*sizeof(double));
621
622 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
623
624 if (fabs(dtPos) > 24*3600.0) {
625 return failure;
626 }
627
628
629 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
630 double step = dtPos / nSteps;
631
632 double acc[3];
633 acc[0] = _x_acceleration * 1.e3;
634 acc[1] = _y_acceleration * 1.e3;
635 acc[2] = _z_acceleration * 1.e3;
636 for (int ii = 1; ii <= nSteps; ii++) {
637 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
638 _tt = _tt + step;
639 }
640
641 // Position and Velocity
642 // ---------------------
643 xc[0] = _xv(1);
644 xc[1] = _xv(2);
645 xc[2] = _xv(3);
646
647 vv[0] = _xv(4);
648 vv[1] = _xv(5);
649 vv[2] = _xv(6);
650
651 // Clock Correction
652 // ----------------
653 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
654 xc[3] = -_tau + _gamma * dtClk;
655
656 xc[4] = _gamma;
657 xc[5] = 0.0;
658
659 return success;
660}
661
662// RINEX Format String
663//////////////////////////////////////////////////////////////////////////////
664QString t_ephGlo::toString(double version) const {
665
666 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
667
668 QTextStream out(&rnxStr);
669
670 out << QString("%1%2%3\n")
671 .arg(-_tau, 19, 'e', 12)
672 .arg(_gamma, 19, 'e', 12)
673 .arg(_tki, 19, 'e', 12);
674
675 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
676
677 out << QString(fmt)
678 .arg(_x_pos, 19, 'e', 12)
679 .arg(_x_velocity, 19, 'e', 12)
680 .arg(_x_acceleration, 19, 'e', 12)
681 .arg(_health, 19, 'e', 12);
682
683 out << QString(fmt)
684 .arg(_y_pos, 19, 'e', 12)
685 .arg(_y_velocity, 19, 'e', 12)
686 .arg(_y_acceleration, 19, 'e', 12)
687 .arg(_frequency_number, 19, 'e', 12);
688
689 out << QString(fmt)
690 .arg(_z_pos, 19, 'e', 12)
691 .arg(_z_velocity, 19, 'e', 12)
692 .arg(_z_acceleration, 19, 'e', 12)
693 .arg(_E, 19, 'e', 12);
694
695 return rnxStr;
696}
697
698// Derivative of the state vector using a simple force model (static)
699////////////////////////////////////////////////////////////////////////////
700ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
701 double* acc) {
702
703 // State vector components
704 // -----------------------
705 ColumnVector rr = xv.rows(1,3);
706 ColumnVector vv = xv.rows(4,6);
707
708 // Acceleration
709 // ------------
710 static const double gmWGS = 398.60044e12;
711 static const double AE = 6378136.0;
712 static const double OMEGA = 7292115.e-11;
713 static const double C20 = -1082.6257e-6;
714
715 double rho = rr.norm_Frobenius();
716 double t1 = -gmWGS/(rho*rho*rho);
717 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
718 double t3 = OMEGA * OMEGA;
719 double t4 = 2.0 * OMEGA;
720 double z2 = rr(3) * rr(3);
721
722 // Vector of derivatives
723 // ---------------------
724 ColumnVector va(6);
725 va(1) = vv(1);
726 va(2) = vv(2);
727 va(3) = vv(3);
728 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
729 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
730 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
731
732 return va;
733}
734
735// IOD of Glonass Ephemeris (virtual)
736////////////////////////////////////////////////////////////////////////////
737unsigned int t_ephGlo::IOD() const {
738 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
739 return (unsigned long)tMoscow.daysec() / 900;
740}
741
742// Health status of Glonass Ephemeris (virtual)
743////////////////////////////////////////////////////////////////////////////
744unsigned int t_ephGlo::isUnhealthy() const {
745
746 if (_almanac_health_availablility_indicator) {
747 if ((_health == 0 && _almanac_health == 0) ||
748 (_health == 1 && _almanac_health == 0) ||
749 (_health == 1 && _almanac_health == 1)) {
750 return 1;
751 }
752 }
753 else if (!_almanac_health_availablility_indicator) {
754 if (_health) {
755 return 1;
756 }
757 }
758 return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
759}
760
761// Constructor
762//////////////////////////////////////////////////////////////////////////////
763t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
764 int year, month, day, hour, min;
765 double sec;
766 QString prnStr;
767 const int nLines = 8;
768 if (lines.size() != nLines) {
769 _checkState = bad;
770 return;
771 }
772
773 // RINEX Format
774 // ------------
775 int fieldLen = 19;
776 double SVhealth = 0.0;
777 double datasource = 0.0;
778
779 int pos[4];
780 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
781 pos[1] = pos[0] + fieldLen;
782 pos[2] = pos[1] + fieldLen;
783 pos[3] = pos[2] + fieldLen;
784
785 // Read eight lines
786 // ----------------
787 for (int iLine = 0; iLine < nLines; iLine++) {
788 QString line = lines[iLine];
789
790 if ( iLine == 0 ) {
791 QTextStream in(line.left(pos[1]).toAscii());
792 QString n;
793 in >> prnStr;
794 if (prnStr.size() == 1 && prnStr[0] == 'E') {
795 in >> n;
796 prnStr.append(n);
797 }
798 in >> year >> month >> day >> hour >> min >> sec;
799 if (year < 80) {
800 year += 2000;
801 }
802 else if (year < 100) {
803 year += 1900;
804 }
805
806 _TOC.set(year, month, day, hour, min, sec);
807
808 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
809 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
810 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
811 _checkState = bad;
812 return;
813 }
814 }
815
816 else if ( iLine == 1 ) {
817 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
818 readDbl(line, pos[1], fieldLen, _Crs ) ||
819 readDbl(line, pos[2], fieldLen, _Delta_n) ||
820 readDbl(line, pos[3], fieldLen, _M0 ) ) {
821 _checkState = bad;
822 return;
823 }
824 }
825
826 else if ( iLine == 2 ) {
827 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
828 readDbl(line, pos[1], fieldLen, _e ) ||
829 readDbl(line, pos[2], fieldLen, _Cus ) ||
830 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
831 _checkState = bad;
832 return;
833 }
834 }
835
836 else if ( iLine == 3 ) {
837 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
838 readDbl(line, pos[1], fieldLen, _Cic ) ||
839 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
840 readDbl(line, pos[3], fieldLen, _Cis ) ) {
841 _checkState = bad;
842 return;
843 }
844 }
845
846 else if ( iLine == 4 ) {
847 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
848 readDbl(line, pos[1], fieldLen, _Crc ) ||
849 readDbl(line, pos[2], fieldLen, _omega ) ||
850 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
851 _checkState = bad;
852 return;
853 }
854 }
855
856 else if ( iLine == 5 ) {
857 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
858 readDbl(line, pos[1], fieldLen, datasource) ||
859 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
860 _checkState = bad;
861 return;
862 } else {
863 if (int(datasource) & (1<<8)) {
864 _fnav = true;
865 _inav = false;
866 } else if (int(datasource) & (1<<9)) {
867 _fnav = false;
868 _inav = true;
869 }
870 _TOEweek -= 1024.0;
871 }
872 }
873
874 else if ( iLine == 6 ) {
875 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
876 readDbl(line, pos[1], fieldLen, SVhealth) ||
877 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
878 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
879 _checkState = bad;
880 return;
881 } else {
882 // Bit 0
883 _e1DataInValid = (int(SVhealth) & (1<<0));
884 // Bit 1-2
885 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
886 // Bit 3
887 _e5aDataInValid = (int(SVhealth) & (1<<3));
888 // Bit 4-5
889 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
890 // Bit 6
891 _e5bDataInValid = (int(SVhealth) & (1<<6));
892 // Bit 7-8
893 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
894
895 if (prnStr.at(0) == 'E') {
896 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
897 }
898 }
899 }
900
901 else if ( iLine == 7 ) {
902 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
903 _checkState = bad;
904 return;
905 }
906 }
907 }
908}
909
910// Compute Galileo Satellite Position (virtual)
911////////////////////////////////////////////////////////////////////////////
912t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
913
914 if (_checkState == bad ||
915 _checkState == unhealthy) {
916 return failure;
917 }
918
919 static const double omegaEarth = 7292115.1467e-11;
920 static const double gmWGS = 398.6004418e12;
921
922 memset(xc, 0, 6*sizeof(double));
923 memset(vv, 0, 3*sizeof(double));
924
925 double a0 = _sqrt_A * _sqrt_A;
926 if (a0 == 0) {
927 return failure;
928 }
929
930 double n0 = sqrt(gmWGS/(a0*a0*a0));
931
932 bncTime tt(GPSweek, GPSweeks);
933 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
934
935 double n = n0 + _Delta_n;
936 double M = _M0 + n*tk;
937 double E = M;
938 double E_last;
939 int nLoop = 0;
940 do {
941 E_last = E;
942 E = M + _e*sin(E);
943
944 if (++nLoop == 100) {
945 return failure;
946 }
947 } while ( fabs(E-E_last)*a0 > 0.001 );
948 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
949 double u0 = v + _omega;
950 double sin2u0 = sin(2*u0);
951 double cos2u0 = cos(2*u0);
952 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
953 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
954 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
955 double xp = r*cos(u);
956 double yp = r*sin(u);
957 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
958 omegaEarth*_TOEsec;
959
960 double sinom = sin(OM);
961 double cosom = cos(OM);
962 double sini = sin(i);
963 double cosi = cos(i);
964 xc[0] = xp*cosom - yp*cosi*sinom;
965 xc[1] = xp*sinom + yp*cosi*cosom;
966 xc[2] = yp*sini;
967
968 double tc = tt - _TOC;
969 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
970
971 // Velocity
972 // --------
973 double tanv2 = tan(v/2);
974 double dEdM = 1 / (1 - _e*cos(E));
975 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
976 * dEdM * n;
977 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
978 double dotom = _OMEGADOT - omegaEarth;
979 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
980 double dotr = a0 * _e*sin(E) * dEdM * n
981 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
982 double dotx = dotr*cos(u) - r*sin(u)*dotu;
983 double doty = dotr*sin(u) + r*cos(u)*dotu;
984
985 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
986 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
987 + yp*sini*sinom*doti; // dX / di
988
989 vv[1] = sinom *dotx + cosi*cosom *doty
990 + xp*cosom*dotom - yp*cosi*sinom*dotom
991 - yp*sini*cosom*doti;
992
993 vv[2] = sini *doty + yp*cosi *doti;
994
995 // Relativistic Correction
996 // -----------------------
997 // correspondent to Galileo ICD and to SSR standard
998 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
999 // correspondent to IGS convention
1000 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1001
1002 xc[4] = _clock_drift + _clock_driftrate*tc;
1003 xc[5] = _clock_driftrate;
1004
1005 return success;
1006}
1007
1008// Health status of Galileo Ephemeris (virtual)
1009////////////////////////////////////////////////////////////////////////////
1010unsigned int t_ephGal::isUnhealthy() const {
1011 if (_E5aHS && _E5bHS && _E1_bHS) {
1012 return 1;
1013 }
1014 return 0;
1015}
1016
1017// RINEX Format String
1018//////////////////////////////////////////////////////////////////////////////
1019QString t_ephGal::toString(double version) const {
1020
1021 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1022
1023 QTextStream out(&rnxStr);
1024
1025 out << QString("%1%2%3\n")
1026 .arg(_clock_bias, 19, 'e', 12)
1027 .arg(_clock_drift, 19, 'e', 12)
1028 .arg(_clock_driftrate, 19, 'e', 12);
1029
1030 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1031
1032 out << QString(fmt)
1033 .arg(_IODnav, 19, 'e', 12)
1034 .arg(_Crs, 19, 'e', 12)
1035 .arg(_Delta_n, 19, 'e', 12)
1036 .arg(_M0, 19, 'e', 12);
1037
1038 out << QString(fmt)
1039 .arg(_Cuc, 19, 'e', 12)
1040 .arg(_e, 19, 'e', 12)
1041 .arg(_Cus, 19, 'e', 12)
1042 .arg(_sqrt_A, 19, 'e', 12);
1043
1044 out << QString(fmt)
1045 .arg(_TOEsec, 19, 'e', 12)
1046 .arg(_Cic, 19, 'e', 12)
1047 .arg(_OMEGA0, 19, 'e', 12)
1048 .arg(_Cis, 19, 'e', 12);
1049
1050 out << QString(fmt)
1051 .arg(_i0, 19, 'e', 12)
1052 .arg(_Crc, 19, 'e', 12)
1053 .arg(_omega, 19, 'e', 12)
1054 .arg(_OMEGADOT, 19, 'e', 12);
1055
1056 int dataSource = 0;
1057 int SVhealth = 0;
1058 double BGD_1_5A = _BGD_1_5A;
1059 double BGD_1_5B = _BGD_1_5B;
1060 if (_fnav) {
1061 dataSource |= (1<<1);
1062 dataSource |= (1<<8);
1063 BGD_1_5B = 0.0;
1064 // SVhealth
1065 // Bit 3 : E5a DVS
1066 if (_e5aDataInValid) {
1067 SVhealth |= (1<<3);
1068 }
1069 // Bit 4-5: E5a HS
1070 if (_E5aHS == 1.0) {
1071 SVhealth |= (1<<4);
1072 }
1073 else if (_E5aHS == 2.0) {
1074 SVhealth |= (1<<5);
1075 }
1076 else if (_E5aHS == 3.0) {
1077 SVhealth |= (1<<4);
1078 SVhealth |= (1<<5);
1079 }
1080 }
1081 else if(_inav) {
1082 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1083 // and RNXv3.03 says both can be set if the navigation messages were merged
1084 dataSource |= (1<<0);
1085 dataSource |= (1<<2);
1086 dataSource |= (1<<9);
1087 // SVhealth
1088 // Bit 0 : E1-B DVS
1089 if (_e1DataInValid) {
1090 SVhealth |= (1<<0);
1091 }
1092 // Bit 1-2: E1-B HS
1093 if (_E1_bHS == 1.0) {
1094 SVhealth |= (1<<1);
1095 }
1096 else if (_E1_bHS == 2.0) {
1097 SVhealth |= (1<<2);
1098 }
1099 else if (_E1_bHS == 3.0) {
1100 SVhealth |= (1<<1);
1101 SVhealth |= (1<<2);
1102 }
1103 // Bit 3 : E5a DVS
1104 if (_e5aDataInValid) {
1105 SVhealth |= (1<<3);
1106 }
1107 // Bit 4-5: E5a HS
1108 if (_E5aHS == 1.0) {
1109 SVhealth |= (1<<4);
1110 }
1111 else if (_E5aHS == 2.0) {
1112 SVhealth |= (1<<5);
1113 }
1114 else if (_E5aHS == 3.0) {
1115 SVhealth |= (1<<4);
1116 SVhealth |= (1<<5);
1117 }
1118 // Bit 6 : E5b DVS
1119 if (_e5bDataInValid) {
1120 SVhealth |= (1<<6);
1121 }
1122 // Bit 7-8: E5b HS
1123 if (_E5bHS == 1.0) {
1124 SVhealth |= (1<<7);
1125 }
1126 else if (_E5bHS == 2.0) {
1127 SVhealth |= (1<<8);
1128 }
1129 else if (_E5bHS == 3.0) {
1130 SVhealth |= (1<<7);
1131 SVhealth |= (1<<8);
1132 }
1133 }
1134
1135 out << QString(fmt)
1136 .arg(_IDOT, 19, 'e', 12)
1137 .arg(double(dataSource), 19, 'e', 12)
1138 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1139 .arg(0.0, 19, 'e', 12);
1140
1141 out << QString(fmt)
1142 .arg(_SISA, 19, 'e', 12)
1143 .arg(double(SVhealth), 19, 'e', 12)
1144 .arg(BGD_1_5A, 19, 'e', 12)
1145 .arg(BGD_1_5B, 19, 'e', 12);
1146
1147 double tot = _TOT;
1148 if (tot == 0.9999e9 && version < 3.0) {
1149 tot = 0.0;
1150 }
1151 out << QString(fmt)
1152 .arg(tot, 19, 'e', 12)
1153 .arg("", 19, QChar(' '))
1154 .arg("", 19, QChar(' '))
1155 .arg("", 19, QChar(' '));
1156
1157 return rnxStr;
1158}
1159
1160// Constructor
1161//////////////////////////////////////////////////////////////////////////////
1162t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1163
1164 const int nLines = 4;
1165
1166 if (lines.size() != nLines) {
1167 _checkState = bad;
1168 return;
1169 }
1170
1171 // RINEX Format
1172 // ------------
1173 int fieldLen = 19;
1174
1175 int pos[4];
1176 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1177 pos[1] = pos[0] + fieldLen;
1178 pos[2] = pos[1] + fieldLen;
1179 pos[3] = pos[2] + fieldLen;
1180
1181 // Read four lines
1182 // ---------------
1183 for (int iLine = 0; iLine < nLines; iLine++) {
1184 QString line = lines[iLine];
1185
1186 if ( iLine == 0 ) {
1187 QTextStream in(line.left(pos[1]).toAscii());
1188
1189 int year, month, day, hour, min;
1190 double sec;
1191
1192 QString prnStr, n;
1193 in >> prnStr;
1194 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1195 in >> n;
1196 prnStr.append(n);
1197 }
1198 in >> year >> month >> day >> hour >> min >> sec;
1199 if (prnStr.at(0) == 'S') {
1200 _prn.set('S', prnStr.mid(1).toInt());
1201 }
1202 else {
1203 _prn.set('S', prnStr.toInt());
1204 }
1205
1206 if (year < 80) {
1207 year += 2000;
1208 }
1209 else if (year < 100) {
1210 year += 1900;
1211 }
1212
1213 _TOC.set(year, month, day, hour, min, sec);
1214
1215 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1216 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1217 readDbl(line, pos[3], fieldLen, _TOT ) ) {
1218 _checkState = bad;
1219 return;
1220 }
1221 }
1222
1223 else if ( iLine == 1 ) {
1224 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1225 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1226 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1227 readDbl(line, pos[3], fieldLen, _health ) ) {
1228 _checkState = bad;
1229 return;
1230 }
1231 }
1232
1233 else if ( iLine == 2 ) {
1234 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1235 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1236 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1237 readDbl(line, pos[3], fieldLen, _ura ) ) {
1238 _checkState = bad;
1239 return;
1240 }
1241 }
1242
1243 else if ( iLine == 3 ) {
1244 double iodn;
1245 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1246 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1247 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1248 readDbl(line, pos[3], fieldLen, iodn ) ) {
1249 _checkState = bad;
1250 return;
1251 } else {
1252 _IODN = int(iodn);
1253 }
1254 }
1255 }
1256
1257 _x_pos *= 1.e3;
1258 _y_pos *= 1.e3;
1259 _z_pos *= 1.e3;
1260 _x_velocity *= 1.e3;
1261 _y_velocity *= 1.e3;
1262 _z_velocity *= 1.e3;
1263 _x_acceleration *= 1.e3;
1264 _y_acceleration *= 1.e3;
1265 _z_acceleration *= 1.e3;
1266}
1267
1268// IOD of SBAS Ephemeris (virtual)
1269////////////////////////////////////////////////////////////////////////////
1270
1271unsigned int t_ephSBAS::IOD() const {
1272 unsigned char buffer[80];
1273 int size = 0;
1274 int numbits = 0;
1275 long long bitbuffer = 0;
1276 unsigned char *startbuffer = buffer;
1277
1278 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1279 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1280 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1281 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1282 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1283 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1284 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1285 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1286 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1287 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1288 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1289 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1290
1291 return CRC24(size, startbuffer);
1292}
1293
1294// Compute SBAS Satellite Position (virtual)
1295////////////////////////////////////////////////////////////////////////////
1296t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1297
1298 if (_checkState == bad ||
1299 _checkState == unhealthy) {
1300 return failure;
1301 }
1302
1303 bncTime tt(GPSweek, GPSweeks);
1304 double dt = tt - _TOC;
1305
1306 xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1307 xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1308 xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1309
1310 vv[0] = _x_velocity + _x_acceleration * dt;
1311 vv[1] = _y_velocity + _y_acceleration * dt;
1312 vv[2] = _z_velocity + _z_acceleration * dt;
1313
1314 xc[3] = _agf0 + _agf1 * dt;
1315
1316 xc[4] = _agf1;
1317 xc[5] = 0.0;
1318
1319 return success;
1320}
1321
1322// RINEX Format String
1323//////////////////////////////////////////////////////////////////////////////
1324QString t_ephSBAS::toString(double version) const {
1325
1326 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1327
1328 QTextStream out(&rnxStr);
1329
1330 out << QString("%1%2%3\n")
1331 .arg(_agf0, 19, 'e', 12)
1332 .arg(_agf1, 19, 'e', 12)
1333 .arg(_TOT, 19, 'e', 12);
1334
1335 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1336
1337 out << QString(fmt)
1338 .arg(1.e-3*_x_pos, 19, 'e', 12)
1339 .arg(1.e-3*_x_velocity, 19, 'e', 12)
1340 .arg(1.e-3*_x_acceleration, 19, 'e', 12)
1341 .arg(_health, 19, 'e', 12);
1342
1343 out << QString(fmt)
1344 .arg(1.e-3*_y_pos, 19, 'e', 12)
1345 .arg(1.e-3*_y_velocity, 19, 'e', 12)
1346 .arg(1.e-3*_y_acceleration, 19, 'e', 12)
1347 .arg(_ura, 19, 'e', 12);
1348
1349 out << QString(fmt)
1350 .arg(1.e-3*_z_pos, 19, 'e', 12)
1351 .arg(1.e-3*_z_velocity, 19, 'e', 12)
1352 .arg(1.e-3*_z_acceleration, 19, 'e', 12)
1353 .arg(double(_IODN), 19, 'e', 12);
1354
1355 return rnxStr;
1356}
1357
1358// Constructor
1359//////////////////////////////////////////////////////////////////////////////
1360t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
1361
1362 const int nLines = 8;
1363
1364 if (lines.size() != nLines) {
1365 _checkState = bad;
1366 return;
1367 }
1368
1369 // RINEX Format
1370 // ------------
1371 int fieldLen = 19;
1372
1373 int pos[4];
1374 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1375 pos[1] = pos[0] + fieldLen;
1376 pos[2] = pos[1] + fieldLen;
1377 pos[3] = pos[2] + fieldLen;
1378
1379 // Read eight lines
1380 // ----------------
1381 for (int iLine = 0; iLine < nLines; iLine++) {
1382 QString line = lines[iLine];
1383
1384 if ( iLine == 0 ) {
1385 QTextStream in(line.left(pos[1]).toAscii());
1386
1387 int year, month, day, hour, min;
1388 double sec;
1389
1390 QString prnStr, n;
1391 in >> prnStr;
1392 if (prnStr.size() == 1 && prnStr[0] == 'C') {
1393 in >> n;
1394 prnStr.append(n);
1395 }
1396 in >> year >> month >> day >> hour >> min >> sec;
1397 if (prnStr.at(0) == 'C') {
1398 _prn.set('C', prnStr.mid(1).toInt());
1399 }
1400 else {
1401 _prn.set('C', prnStr.toInt());
1402 }
1403
1404 if (year < 80) {
1405 year += 2000;
1406 }
1407 else if (year < 100) {
1408 year += 1900;
1409 }
1410
1411 _TOC.setBDS(year, month, day, hour, min, sec);
1412
1413 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1414 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1415 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1416 _checkState = bad;
1417 return;
1418 }
1419 }
1420
1421 else if ( iLine == 1 ) {
1422 double aode;
1423 if ( readDbl(line, pos[0], fieldLen, aode ) ||
1424 readDbl(line, pos[1], fieldLen, _Crs ) ||
1425 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1426 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1427 _checkState = bad;
1428 return;
1429 }
1430 _AODE = int(aode);
1431 }
1432
1433 else if ( iLine == 2 ) {
1434 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1435 readDbl(line, pos[1], fieldLen, _e ) ||
1436 readDbl(line, pos[2], fieldLen, _Cus ) ||
1437 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1438 _checkState = bad;
1439 return;
1440 }
1441 }
1442
1443 else if ( iLine == 3 ) {
1444 if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
1445 readDbl(line, pos[1], fieldLen, _Cic ) ||
1446 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1447 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1448 _checkState = bad;
1449 return;
1450 }
1451 }
1452
1453 else if ( iLine == 4 ) {
1454 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1455 readDbl(line, pos[1], fieldLen, _Crc ) ||
1456 readDbl(line, pos[2], fieldLen, _omega ) ||
1457 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1458 _checkState = bad;
1459 return;
1460 }
1461 }
1462
1463 else if ( iLine == 5 ) {
1464 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1465 readDbl(line, pos[2], fieldLen, _TOEweek)) {
1466 _checkState = bad;
1467 return;
1468 }
1469 }
1470
1471 else if ( iLine == 6 ) {
1472 double SatH1;
1473 if ( readDbl(line, pos[0], fieldLen, _URA ) ||
1474 readDbl(line, pos[1], fieldLen, SatH1) ||
1475 readDbl(line, pos[2], fieldLen, _TGD1) ||
1476 readDbl(line, pos[3], fieldLen, _TGD2) ) {
1477 _checkState = bad;
1478 return;
1479 }
1480 _SatH1 = int(SatH1);
1481 }
1482
1483 else if ( iLine == 7 ) {
1484 double aodc;
1485 if ( readDbl(line, pos[0], fieldLen, _TOT) ||
1486 readDbl(line, pos[1], fieldLen, aodc) ) {
1487 _checkState = bad;
1488 return;
1489 }
1490 if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
1491 _TOT = _TOEsec;
1492 }
1493 _AODC = int(aodc);
1494 }
1495 }
1496
1497 _TOE.setBDS(int(_TOEweek), _TOEsec);
1498
1499 // remark: actually should be computed from second_tot
1500 // but it seems to be unreliable in RINEX files
1501 //_TOT = _TOC.bdssec();
1502}
1503
1504// IOD of BDS Ephemeris (virtual)
1505////////////////////////////////////////////////////////////////////////////
1506unsigned int t_ephBDS::IOD() const {
1507 unsigned char buffer[80];
1508 int size = 0;
1509 int numbits = 0;
1510 long long bitbuffer = 0;
1511 unsigned char *startbuffer = buffer;
1512
1513 BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1514 BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
1515 /static_cast<double>(1<<30)/static_cast<double>(1<<6))
1516 BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
1517 BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1518 BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
1519 BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1520 BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1521 BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1522 BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1523 BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1524 BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
1525 BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1526 BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1527 BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1528 BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1529 BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
1530 BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1531 BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1532 BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1533
1534 return CRC24(size, startbuffer);
1535}
1536
1537// Compute BDS Satellite Position (virtual)
1538//////////////////////////////////////////////////////////////////////////////
1539t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1540
1541 if (_checkState == bad ||
1542 _checkState == unhealthy) {
1543 return failure;
1544 }
1545
1546 static const double gmBDS = 398.6004418e12;
1547 static const double omegaBDS = 7292115.0000e-11;
1548
1549 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1550 vv[0] = vv[1] = vv[2] = 0.0;
1551
1552 bncTime tt(GPSweek, GPSweeks);
1553
1554 if (_sqrt_A == 0) {
1555 return failure;
1556 }
1557 double a0 = _sqrt_A * _sqrt_A;
1558
1559 double n0 = sqrt(gmBDS/(a0*a0*a0));
1560 double tk = tt - _TOE;
1561 double n = n0 + _Delta_n;
1562 double M = _M0 + n*tk;
1563 double E = M;
1564 double E_last;
1565 int nLoop = 0;
1566 do {
1567 E_last = E;
1568 E = M + _e*sin(E);
1569
1570 if (++nLoop == 100) {
1571 return failure;
1572 }
1573 } while ( fabs(E-E_last)*a0 > 0.001 );
1574
1575 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1576 double u0 = v + _omega;
1577 double sin2u0 = sin(2*u0);
1578 double cos2u0 = cos(2*u0);
1579 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1580 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1581 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1582 double xp = r*cos(u);
1583 double yp = r*sin(u);
1584 double toesec = (_TOE.gpssec() - 14.0);
1585 double sinom = 0;
1586 double cosom = 0;
1587 double sini = 0;
1588 double cosi = 0;
1589
1590 // Velocity
1591 // --------
1592 double tanv2 = tan(v/2);
1593 double dEdM = 1 / (1 - _e*cos(E));
1594 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1595 / (1 + tanv2*tanv2) * dEdM * n;
1596 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1597 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1598 double dotr = a0 * _e*sin(E) * dEdM * n
1599 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1600
1601 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1602 double doty = dotr*sin(u) + r*cos(u)*dotu;
1603
1604 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1605
1606 // MEO/IGSO satellite
1607 // ------------------
1608 if (_i0 > iMaxGEO) {
1609 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1610
1611 sinom = sin(OM);
1612 cosom = cos(OM);
1613 sini = sin(i);
1614 cosi = cos(i);
1615
1616 xc[0] = xp*cosom - yp*cosi*sinom;
1617 xc[1] = xp*sinom + yp*cosi*cosom;
1618 xc[2] = yp*sini;
1619
1620 // Velocity
1621 // --------
1622
1623 double dotom = _OMEGADOT - t_CST::omega;
1624
1625 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1626 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1627 + yp*sini*sinom*doti; // dX / di
1628
1629 vv[1] = sinom *dotx + cosi*cosom *doty
1630 + xp*cosom*dotom - yp*cosi*sinom*dotom
1631 - yp*sini*cosom*doti;
1632
1633 vv[2] = sini *doty + yp*cosi *doti;
1634
1635 }
1636
1637 // GEO satellite
1638 // -------------
1639 else {
1640 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1641 double ll = omegaBDS*tk;
1642
1643 sinom = sin(OM);
1644 cosom = cos(OM);
1645 sini = sin(i);
1646 cosi = cos(i);
1647
1648 double xx = xp*cosom - yp*cosi*sinom;
1649 double yy = xp*sinom + yp*cosi*cosom;
1650 double zz = yp*sini;
1651
1652 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1653 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1654
1655 ColumnVector X1(3); X1 << xx << yy << zz;
1656 ColumnVector X2 = RZ*RX*X1;
1657
1658 xc[0] = X2(1);
1659 xc[1] = X2(2);
1660 xc[2] = X2(3);
1661
1662 double dotom = _OMEGADOT;
1663
1664 double vx = cosom *dotx - cosi*sinom *doty
1665 - xp*sinom*dotom - yp*cosi*cosom*dotom
1666 + yp*sini*sinom*doti;
1667
1668 double vy = sinom *dotx + cosi*cosom *doty
1669 + xp*cosom*dotom - yp*cosi*sinom*dotom
1670 - yp*sini*cosom*doti;
1671
1672 double vz = sini *doty + yp*cosi *doti;
1673
1674 ColumnVector V(3); V << vx << vy << vz;
1675
1676 Matrix RdotZ(3,3);
1677 double C = cos(ll);
1678 double S = sin(ll);
1679 Matrix UU(3,3);
1680 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1681 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1682 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1683 RdotZ = omegaBDS * UU;
1684
1685 ColumnVector VV(3);
1686 VV = RZ*RX*V + RdotZ*RX*X1;
1687
1688 vv[0] = VV(1);
1689 vv[1] = VV(2);
1690 vv[2] = VV(3);
1691 }
1692
1693 double tc = tt - _TOC;
1694 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1695
1696 // dotC = _clock_drift + _clock_driftrate*tc
1697 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1698
1699 // Relativistic Correction
1700 // -----------------------
1701 // correspondent to BDS ICD and to SSR standard
1702 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1703 // correspondent to IGS convention
1704 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1705
1706 xc[4] = _clock_drift + _clock_driftrate*tc;
1707 xc[5] = _clock_driftrate;
1708
1709 return success;
1710}
1711
1712// RINEX Format String
1713//////////////////////////////////////////////////////////////////////////////
1714QString t_ephBDS::toString(double version) const {
1715
1716 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1717
1718 QTextStream out(&rnxStr);
1719
1720 out << QString("%1%2%3\n")
1721 .arg(_clock_bias, 19, 'e', 12)
1722 .arg(_clock_drift, 19, 'e', 12)
1723 .arg(_clock_driftrate, 19, 'e', 12);
1724
1725 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1726
1727 out << QString(fmt)
1728 .arg(double(_AODE), 19, 'e', 12)
1729 .arg(_Crs, 19, 'e', 12)
1730 .arg(_Delta_n, 19, 'e', 12)
1731 .arg(_M0, 19, 'e', 12);
1732
1733 out << QString(fmt)
1734 .arg(_Cuc, 19, 'e', 12)
1735 .arg(_e, 19, 'e', 12)
1736 .arg(_Cus, 19, 'e', 12)
1737 .arg(_sqrt_A, 19, 'e', 12);
1738
1739 double toes = 0.0;
1740 if (_TOEweek > -1.0) {// RINEX input
1741 toes = _TOEsec;
1742 }
1743 else {// RTCM stream input
1744 toes = _TOE.bdssec();
1745 }
1746 out << QString(fmt)
1747 .arg(toes, 19, 'e', 12)
1748 .arg(_Cic, 19, 'e', 12)
1749 .arg(_OMEGA0, 19, 'e', 12)
1750 .arg(_Cis, 19, 'e', 12);
1751
1752 out << QString(fmt)
1753 .arg(_i0, 19, 'e', 12)
1754 .arg(_Crc, 19, 'e', 12)
1755 .arg(_omega, 19, 'e', 12)
1756 .arg(_OMEGADOT, 19, 'e', 12);
1757
1758 double toew = 0.0;
1759 if (_TOEweek > -1.0) {// RINEX input
1760 toew = _TOEweek;
1761 }
1762 else {// RTCM stream input
1763 toew = double(_TOE.bdsw());
1764 }
1765 out << QString(fmt)
1766 .arg(_IDOT, 19, 'e', 12)
1767 .arg(0.0, 19, 'e', 12)
1768 .arg(toew, 19, 'e', 12)
1769 .arg(0.0, 19, 'e', 12);
1770
1771 out << QString(fmt)
1772 .arg(_URA, 19, 'e', 12)
1773 .arg(double(_SatH1), 19, 'e', 12)
1774 .arg(_TGD1, 19, 'e', 12)
1775 .arg(_TGD2, 19, 'e', 12);
1776
1777 double tots = 0.0;
1778 if (_TOEweek > -1.0) {// RINEX input
1779 tots = _TOT;
1780 }
1781 else {// RTCM stream input
1782 tots = _TOE.bdssec();
1783 }
1784 out << QString(fmt)
1785 .arg(tots, 19, 'e', 12)
1786 .arg(double(_AODC), 19, 'e', 12)
1787 .arg("", 19, QChar(' '))
1788 .arg("", 19, QChar(' '));
1789 return rnxStr;
1790}
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